From 9466e2ff026f2c9c26c44c2e001f2601ae24dd41 Mon Sep 17 00:00:00 2001 From: PatribotsProgramming Date: Wed, 25 Oct 2023 16:10:38 -0700 Subject: [PATCH] Improvements to logs (dont crash it on startup) --- src/main/java/hardware/Arm.java | 4 ++-- src/main/java/hardware/Swerve.java | 5 +---- 2 files changed, 3 insertions(+), 6 deletions(-) diff --git a/src/main/java/hardware/Arm.java b/src/main/java/hardware/Arm.java index 87128d7a..4b2f5744 100644 --- a/src/main/java/hardware/Arm.java +++ b/src/main/java/hardware/Arm.java @@ -48,8 +48,8 @@ public class Arm /* implements Loggable */ { private double armYReference = 0; // The DESIRED rotation of the arms - private double upperReferenceAngle = 0; - private double lowerReferenceAngle = 0; + private double upperReferenceAngle = Units.degreesToRadians(200); + private double lowerReferenceAngle = Units.degreesToRadians(122); private boolean armsAtDesiredPosition = false; diff --git a/src/main/java/hardware/Swerve.java b/src/main/java/hardware/Swerve.java index 1eaba605..3a70362a 100644 --- a/src/main/java/hardware/Swerve.java +++ b/src/main/java/hardware/Swerve.java @@ -113,10 +113,7 @@ public Swerve() { setBrakeMode(); SmartDashboard.putNumberArray("Swerve/RealStates", new double[] { - frontLeft.getState().angle.getDegrees(), frontLeft.getState().speedMetersPerSecond, - frontRight.getState().angle.getDegrees(), frontRight.getState().speedMetersPerSecond, - rearLeft.getState().angle.getDegrees(), rearLeft.getState().speedMetersPerSecond, - rearRight.getState().angle.getDegrees(), rearRight.getState().speedMetersPerSecond + 0, 0, 0, 0, 0, 0, 0, 0 }); SmartDashboard.putNumberArray("Swerve/DesiredStates", desiredModuleStates); SmartDashboard.putNumber("Swerve/RobotRotation", getPose().getRotation().getDegrees());